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from nose.tools import assert_equal
import numpy as np
import cv_bridge
def test_cvtColorForDisplay():
# convert label image to display
label = np.zeros((480, 640), dtype=np.int32)
height, width = label.shape[:2]
label_value = 0
grid_num_y, grid_num_x = 3, 4
for grid_row in range(grid_num_y):
grid_size_y = height / grid_num_y
min_y = grid_size_y * grid_row
max_y = min_y + grid_size_y
for grid_col in range(grid_num_x):
grid_size_x = width / grid_num_x
min_x = grid_size_x * grid_col
max_x = min_x + grid_size_x
label[int(min_y):int(max_y), int(min_x):int(max_x)] = label_value
label_value += 1
label_viz = cv_bridge.cvtColorForDisplay(label, '32SC1', 'bgr8')
assert_equal(label_viz.dtype, np.uint8)
assert_equal(label_viz.min(), 0)
assert_equal(label_viz.max(), 255)
# Check that mono8 conversion returns the right shape.
bridge = cv_bridge.CvBridge()
mono = np.random.random((100, 100)) * 255
mono = mono.astype(np.uint8)
input_msg = bridge.cv2_to_imgmsg(mono, encoding='mono8')
output = bridge.imgmsg_to_cv2(input_msg, desired_encoding='mono8')
assert_equal(output.shape, (100,100))
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